EasyHeC: Accurate and Automatic Hand-eye Calibration via Differentiable Rendering and Space Exploration

Hand-eye calibration is a critical task in robotics, as it directly affects the efficacy of critical operations such as manipulation and grasping. Traditional methods for achieving this objective necessitate the careful design of joint poses and the use of specialized calibration markers, while most recent learning-based approaches using solely pose regression are limited in their abilities to diagnose inaccuracies. In this work, we introduce a new approach to hand-eye calibration called EasyHeC, which is markerless, white-box, and offers comprehensive coverage of positioning accuracy across the entire robot configuration space. We introduce two key technologies: differentiable rendering-based camera pose optimization and consistency-based joint space exploration, which enables accurate end-to-end optimization of the calibration process and eliminates the need for the laborious manual design of robot joint poses. Our evaluation demonstrates superior performance in synthetic and real-world datasets, enhancing downstream manipulation tasks by providing precise camera poses for locating and interacting with objects. The code is available at the project page: https://ootts.github.io/easyhec.Comment: Project page: https://ootts.github.io/easyhe

A redox-responsive self-assembling COA-4-arm PEG prodrug nanosystem for dual drug delivery suppresses cancer metastasis and drug resistance by downregulating hsp90 expression

Metastasis and resistance are main causes to affect the outcome of the current anticancer therapies. Heat shock protein 90 (Hsp90) as an ATP-dependent molecular chaperone takes important role in the tumor metastasis and resistance. Targeting Hsp90 and downregulating its expression show promising in inhibiting tumor metastasis and resistance. In this study, a redox-responsive dual-drug nanocarrier was constructed for the effective delivery of a commonly used chemotherapeutic drug PTX, and a COA-modified 4-arm PEG polymer (4PSC) was synthesized. COA, an active component in oleanolic acid that exerts strong antitumor activity by downregulating Hsp90 expression, was used as a structural and functional element to endow 4PSC with redox responsiveness and Hsp90 inhibitory activity. Our results showed that 4PSC/PTX nanomicelles efficiently delivered PTX and COA to tumor locations without inducing systemic toxicity. By blocking the Hsp90 signaling pathway, 4PSC significantly enhanced the antitumor effect of PTX, inhibiting tumor proliferation and invasiveness as well as chemotherapy-induced resistance in vitro. Remarkable results were further confirmed in vivo with two preclinical tumor models. These findings demonstrate that the COA-modified 4PSC drug delivery nanosystem provides a potential platform for enhancing the efficacy of chemotherapies